Fig. 2From: Motor data-regularized nonnegative matrix factorization for ego-noise suppressionLeft: Illustration of data collection and processing. We consider a robot for which motor data of 23 joints and a single-channel microphone signal are recorded. The ℓth STFT frame is processed. Note that the total number of motor data samples can be varying from frame to frame, c.f., Section 2.1. Right: Example spectrogram for right arm shoulder ego-noise and corresponding normalized motor data samples (angular position and angular velocity) of this jointBack to article page